/*
 * main.cpp
 *
 *  Created on: Jun 23, 2009
 *      Author: matt

 *  This code uses code that was created by Jeff Molofee 2000.
 *  Most of the comments are thanks to Jeff.
 */

/* This is simply a test for collision detection.*/

#include <windows.h>           // Header File For Windows
#include <gl\gl.h>             // Header File For The OpenGL32 Library
#include <gl\glu.h>            // Header File For The GLu32 Library
#include <stdio.h>
#include "mathutil.h"			// already includes math.h
#include "constants.h"
#include "robot.h"
#include "simulator.h"
#include "console.h"

HDC hDC = NULL; // Private GDI Device Context
HGLRC hRC = NULL; // Permanent Rendering Context
HWND hWnd = NULL; // Holds Our Window Handle
HINSTANCE hInstance; // Holds The Instance Of The Application


#define NKEYS 256
bool keys[NKEYS]; // Array Used For The Keyboard Routine
bool active = TRUE; // Window Active Flag Set To TRUE By Default
bool fullscreen = TRUE; // Fullscreen Flag Set To Fullscreen Mode By Default
bool console = FALSE; //If true then a console is shown

GLuint base; // Base Display List For The Font Set
GLfloat cnt1; // 1st Counter Used To Move Text & For Coloring
GLfloat cnt2; // 2nd Counter Used To Move Text & For Coloring


float xpos = 0, ypos = 0;
float zrot = 0, rrot = 0;

const unsigned int room_size = 6;
LINE2DF room[room_size] = { LINE2DF((VECTOR2DF)
{	0,1}, (VECTOR2DF)
{	-5,-5}, 20.0), LINE2DF((VECTOR2DF)
{	1,0}, (VECTOR2DF)
{	-5,15}, 10.0), LINE2DF((VECTOR2DF)
{	0,-1}, (VECTOR2DF)
{	5,15}, 5.0), LINE2DF((VECTOR2DF)
{	1,0}, (VECTOR2DF)
{	5,10}, 5.0), LINE2DF((VECTOR2DF)
{	0,-1}, (VECTOR2DF)
{	10,10}, 15.0), LINE2DF((VECTOR2DF)
{	-1,0}, (VECTOR2DF)
{	10,-5}, 15.0), };

ROBOT * robot;
SIMULOBJECT * env;
SIMULATOR sim;
vector<SIMULOBJECT*> simulobjs;
//init the console
CONSOLE con(keys, &sim);

LRESULT CALLBACK WndProc(HWND, UINT, WPARAM, LPARAM); // Declaration For WndProc


GLvoid BuildFont(GLvoid) // Build Our Bitmap Font
{
	HFONT font; // Windows Font ID
	HFONT oldfont; // Used For Good House Keeping

	base = glGenLists(96); // Storage For 96 Characters

	font = CreateFont(-24, // Height Of Font
			0, // Width Of Font
			0, // Angle Of Escapement
			0, // Orientation Angle
			FW_BOLD, // Font Weight
			FALSE, // Italic
			FALSE, // Underline
			FALSE, // Strikeout
			ANSI_CHARSET, // Character Set Identifier
			OUT_TT_PRECIS, // Output Precision
			CLIP_DEFAULT_PRECIS, // Clipping Precision
			ANTIALIASED_QUALITY, // Output Quality
			FF_DONTCARE | DEFAULT_PITCH, // Family And Pitch
			"Courier New"); // Font Name

	oldfont = (HFONT) SelectObject(hDC, font); // Selects The Font We Want
	wglUseFontBitmaps(hDC, 32, 96, base); // Builds 96 Characters Starting At Character 32
	SelectObject(hDC, oldfont); // Selects The Font We Want
	DeleteObject(font); // Delete The Font
}

GLvoid KillFont(GLvoid) // Delete The Font List
{
	glDeleteLists(base, 96); // Delete All 96 Characters
}

GLvoid glPrint(const char *fmt, ...) // Custom GL "Print" Routine
{
	char text[256]; // Holds Our String
	va_list ap; // Pointer To List Of Arguments

	if (fmt == NULL) // If There's No Text
		return; // Do Nothing

	va_start(ap, fmt); // Parses The String For Variables
	vsprintf(text, fmt, ap); // And Converts Symbols To Actual Numbers
	va_end(ap); // Results Are Stored In Text

	glPushAttrib(GL_LIST_BIT); // Pushes The Display List Bits
	glListBase(base - 32); // Sets The Base Character to 32
	glCallLists(strlen(text), GL_UNSIGNED_BYTE, text); // Draws The Display List Text
	glPopAttrib(); // Pops The Display List Bits
}

void InitSimul() {

	sim.SetMode(sim.COMPREHENSIVE_COLLISION);

	//construct robot
	vector<LINE2DF> rhull;

	VECTOR2DF e1 = { -1, 1 };
	VECTOR2DF e2 = { -1, -1 };
	rhull.push_back(LINE2DF(e1, e2));
	VECTOR2DF e11 = { -1, -1 };
	VECTOR2DF e12 = { 1, -1 };
	rhull.push_back(LINE2DF(e11, e12));
	VECTOR2DF e21 = { 1, -1 };
	VECTOR2DF e22 = { 1, 1 };
	rhull.push_back(LINE2DF(e21, e22));
	VECTOR2DF e31 = { 1, 1 };
	VECTOR2DF e32 = { -1, 1 };
	rhull.push_back(LINE2DF(e31, e32));
	robot = new ROBOT(rhull);
	VECTOR2DF wheels1_direction = { -1, -1 };
	VECTOR2DF wheels2_direction = { 1, -1 };
	float dist = sqrt(2);
	robot->SetWheels(wheels1_direction, dist, wheels2_direction, dist);
	//construct environment
	vector<LINE2DF> ehull;

	for (unsigned int i = 0; i < room_size; i++) {
		ehull.push_back(room[i]);
	}

	env = new SIMULOBJECT(ehull);

	sim.SetEnv(env);
	sim.SetRobot(robot);

	simulobjs.push_back(robot);
	simulobjs.push_back(env);

}

GLvoid ReSizeGLScene(GLsizei width, GLsizei height) // Resize And Initialize The GL Window
{
	if (height == 0) // Prevent A Divide By Zero By
	{
		height = 1; // Making Height Equal One
	}

	glViewport(0, 0, width, height); // Reset The Current Viewport

	glMatrixMode(GL_PROJECTION); // Select The Projection Matrix
	glLoadIdentity(); // Reset The Projection Matrix

	// Calculate The Aspect Ratio Of The Window
	gluPerspective(45.0f, (GLfloat) width / (GLfloat) height, 0.1f, 100.0f);

	glMatrixMode(GL_MODELVIEW); // Select The Modelview Matrix
	glLoadIdentity(); // Reset The Modelview Matrix
}

int InitGL(GLvoid) // All Setup For OpenGL Goes Here
{
	glShadeModel(GL_SMOOTH); // Enable Smooth Shading
	glClearColor(0.0f, 0.0f, 0.0f, 0.5f); // Black Background
	glClearDepth(1.0f); // Depth Buffer Setup
	glEnable(GL_DEPTH_TEST); // Enables Depth Testing
	glDepthFunc(GL_LEQUAL); // The Type Of Depth Testing To Do
	glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); // Really Nice Perspective Calculations
	BuildFont(); // Build The Font
	return TRUE; // Initialization Went OK
}

int DrawGLScene(GLvoid) // Here's Where We Do All The Drawing
{
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear Screen And Depth Buffer

	//draw loop for all simulobjects in list-mg
	for (unsigned int i = 0; i < simulobjs.size(); i++) {
		vector<LINE2DF> hull;
		simulobjs[i]->GetHull(hull);
		for (unsigned int j = 0; j < hull.size(); j++) {
			VECTOR2DF e1, e2;
			endpoints(hull[j], e1, e2);
			glLoadIdentity(); // Reset The Current Modelview Matrix
			glColor3f(1.0f, 1.0f, 1.0f); // Set The Color To Blue One Time Only
			glBegin(GL_LINES); // Draw A Quad
			glVertex3f(e1.x, e1.y, ZPOS); // Top Left
			glVertex3f(e2.x, e2.y, ZPOS); // Bottom Left
			glEnd(); // Done Drawing The Quad
		}
	}

	//draws the collision points
	COLLISION_DATA cd;
	sim.GetCollisionData(cd);
	float size = 0.3;
	for (unsigned int i = 0; i < cd.cpoints.size(); i++) {
		float x = cd.cpoints[i].x;
		float y = cd.cpoints[i].y;
		glLoadIdentity();
		glColor3f(1.0f, 0.0f, 0.0f);
		glBegin(GL_TRIANGLES); // Draw A Quad
		glVertex3f(x, y + size, ZPOS); // Top Left
		glVertex3f(x - size, y - size, ZPOS); // Bottom Left
		glVertex3f(x + size, y - size, ZPOS);
		glEnd(); // Done Drawing The Quad
	}

	//draws the robot laser
	if (robot->LaserOn()) {
		vector<LINE2DF> lasers;
		robot->GetLaser(lasers);
		for (unsigned int i = 0; i < lasers.size(); i++) {
			LINE2DF laser = lasers[i];
			VECTOR2DF e1, e2;
			endpoints(laser, e1, e2);
			glLoadIdentity(); // Reset The Current Modelview Matrix
			glColor3f(1.0f, 0.0f, 0.0f); // Set The Color To Blue One Time Only
			glBegin(GL_LINES); // Draw A Quad
			glVertex3f(e1.x, e1.y, ZPOS); // Top Left
			glVertex3f(e2.x, e2.y, ZPOS); // Bottom Left
			glEnd();
		}
	}

	//draws the console part (not what is currently being type)
	glLoadIdentity(); // Reset The Current Modelview Matrix
	// Position The Text On The Screen
	glTranslatef(0.0f, 0.0f, -1.0f); // Move One Unit Into The Screen
	// Pulsing Colors Based On Text Position
	glColor3f(1.0f, 1.0f, 0);
	vector<string> v;
	con.GetConsoleLines(v);
	for (unsigned int i = 0; i < v.size(); i++) {

		glRasterPos2f(-.499f, .3f + .02f * (float) i);
		glPrint("%s", v[i].c_str()); // Print GL Text To The Screen

	}

	//daws the console buffer (the part that is currently being typed
	glLoadIdentity(); // Reset The Current Modelview Matrix
	// Position The Text On The Screen
	glTranslatef(0.0f, 0.0f, -1.0f); // Move One Unit Into The Screen
	// Pulsing Colors Based On Text Position
	glColor3f(1.0f, 0.0f, 0);
	char * buff;
	con.GetConsoleBuffer(buff);
	glRasterPos2f(-.499f, .28);
	glPrint("%s", buff); // Print GL Text To The Screen


	//draw debug pts

	//	vector<VECTOR2DF> dbg_pts  = sim.debug_pts;
	//	for (unsigned int i = 0; i < dbg_pts.size(); i++)
	//	{
	//		float x = dbg_pts[i].x;
	//		float y = dbg_pts[i].y;
	//		glLoadIdentity();
	//		glColor3f(i %3 ==0 ? 1.0f : 0.0f, i %3 == 1 ? 1.0f : 0.0f, i %3 ==2 ? 1.0f : 0.0f );
	//		glBegin(GL_TRIANGLES); // Draw A Quad
	//		glVertex3f(x, y + size , ZPOS); // Top Left
	//		glVertex3f(x - size, y - size , ZPOS); // Bottom Left
	//		glVertex3f(x + size, y - size , ZPOS);
	//		glEnd(); // Done Drawing The Quad
	//	}

	return TRUE; // Keep Going
}

GLvoid KillGLWindow(GLvoid) // Properly Kill The Window
{
	if (fullscreen) // Are We In Fullscreen Mode?
	{
		ChangeDisplaySettings(NULL, 0); // If So Switch Back To The Desktop
		ShowCursor(TRUE); // Show Mouse Pointer
	}

	if (hRC) // Do We Have A Rendering Context?
	{
		if (!wglMakeCurrent(NULL, NULL)) // Are We Able To Release The DC And RC Contexts?
		{
			MessageBox(NULL, "Release Of DC And RC Failed.", "SHUTDOWN ERROR",
					MB_OK | MB_ICONINFORMATION);
		}

		if (!wglDeleteContext(hRC)) // Are We Able To Delete The RC?
		{
			MessageBox(NULL, "Release Rendering Context Failed.",
					"SHUTDOWN ERROR", MB_OK | MB_ICONINFORMATION);
		}
		hRC = NULL; // Set RC To NULL
	}

	if (hDC && !ReleaseDC(hWnd, hDC)) // Are We Able To Release The DC
	{
		MessageBox(NULL, "Release Device Context Failed.", "SHUTDOWN ERROR",
				MB_OK | MB_ICONINFORMATION);
		hDC = NULL; // Set DC To NULL
	}

	if (hWnd && !DestroyWindow(hWnd)) // Are We Able To Destroy The Window?
	{
		MessageBox(NULL, "Could Not Release hWnd.", "SHUTDOWN ERROR", MB_OK
				| MB_ICONINFORMATION);
		hWnd = NULL; // Set hWnd To NULL
	}

	if (!UnregisterClass("OpenGL", hInstance)) // Are We Able To Unregister Class
	{
		MessageBox(NULL, "Could Not Unregister Class.", "SHUTDOWN ERROR", MB_OK
				| MB_ICONINFORMATION);
		hInstance = NULL; // Set hInstance To NULL
	}

	KillFont();
}

/*      This Code Creates Our OpenGL Window.  Parameters Are:
 *      title                   - Title To Appear At The Top Of The Window
 *      width                   - Width Of The GL Window Or Fullscreen Mode
 *      height                  - Height Of The GL Window Or Fullscreen Mode
 *      bits                    - Number Of Bits To Use For Color (8/16/24/32)
 *      fullscreenflag  - Use Fullscreen Mode (TRUE) Or Windowed Mode (FALSE)   */

BOOL CreateGLWindow(char* title, int width, int height, int bits,
		bool fullscreenflag) {
	GLuint PixelFormat; // Holds The Results After Searching For A Match
	WNDCLASS wc; // Windows Class Structure
	DWORD dwExStyle; // Window Extended Style
	DWORD dwStyle; // Window Style
	RECT WindowRect; // Grabs Rectangle Upper Left / Lower Right Values
	WindowRect.left = (long) 0; // Set Left Value To 0
	WindowRect.right = (long) width; // Set Right Value To Requested Width
	WindowRect.top = (long) 0; // Set Top Value To 0
	WindowRect.bottom = (long) height; // Set Bottom Value To Requested Height

	fullscreen = fullscreenflag; // Set The Global Fullscreen Flag

	hInstance = GetModuleHandle(NULL); // Grab An Instance For Our Window
	wc.style = CS_HREDRAW | CS_VREDRAW | CS_OWNDC; // Redraw On Size, And Own DC For Window.
	wc.lpfnWndProc = (WNDPROC) WndProc; // WndProc Handles Messages
	wc.cbClsExtra = 0; // No Extra Window Data
	wc.cbWndExtra = 0; // No Extra Window Data
	wc.hInstance = hInstance; // Set The Instance
	wc.hIcon = LoadIcon(NULL, IDI_WINLOGO); // Load The Default Icon
	wc.hCursor = LoadCursor(NULL, IDC_ARROW); // Load The Arrow Pointer
	wc.hbrBackground = NULL; // No Background Required For GL
	wc.lpszMenuName = NULL; // We Don't Want A Menu
	wc.lpszClassName = "OpenGL"; // Set The Class Name

	if (!RegisterClass(&wc)) // Attempt To Register The Window Class
	{
		MessageBox(NULL, "Failed To Register The Window Class.", "ERROR", MB_OK
				| MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	if (fullscreen) // Attempt Fullscreen Mode?
	{
		DEVMODE dmScreenSettings; // Device Mode
		memset(&dmScreenSettings, 0, sizeof(dmScreenSettings)); // Makes Sure Memory's Cleared
		dmScreenSettings.dmSize = sizeof(dmScreenSettings); // Size Of The Devmode Structure
		dmScreenSettings.dmPelsWidth = width; // Selected Screen Width
		dmScreenSettings.dmPelsHeight = height; // Selected Screen Height
		dmScreenSettings.dmBitsPerPel = bits; // Selected Bits Per Pixel
		dmScreenSettings.dmFields = DM_BITSPERPEL | DM_PELSWIDTH
				| DM_PELSHEIGHT;

		// Try To Set Selected Mode And Get Results.  NOTE: CDS_FULLSCREEN Gets Rid Of Start Bar.
		if (ChangeDisplaySettings(&dmScreenSettings, CDS_FULLSCREEN)
				!= DISP_CHANGE_SUCCESSFUL) {
			// If The Mode Fails, Offer Two Options.  Quit Or Use Windowed Mode.
			if (MessageBox(
					NULL,
					"The Requested Fullscreen Mode Is Not Supported By\nYour Video Card. Use Windowed Mode Instead?",
					"NeHe GL", MB_YESNO | MB_ICONEXCLAMATION) == IDYES) {
				fullscreen = FALSE; // Windowed Mode Selected.  Fullscreen = FALSE
			} else {
				// Pop Up A Message Box Letting User Know The Program Is Closing.
				MessageBox(NULL, "Program Will Now Close.", "ERROR", MB_OK
						| MB_ICONSTOP);
				return FALSE; // Return FALSE
			}
		}
	}

	if (fullscreen) // Are We Still In Fullscreen Mode?
	{
		dwExStyle = WS_EX_APPWINDOW; // Window Extended Style
		dwStyle = WS_POPUP; // Windows Style
		ShowCursor(FALSE); // Hide Mouse Pointer
	} else {
		dwExStyle = WS_EX_APPWINDOW | WS_EX_WINDOWEDGE; // Window Extended Style
		dwStyle = WS_OVERLAPPEDWINDOW; // Windows Style
	}

	AdjustWindowRectEx(&WindowRect, dwStyle, FALSE, dwExStyle); // Adjust Window To True Requested Size

	// Create The Window
	if (!(hWnd = CreateWindowEx(dwExStyle, // Extended Style For The Window
			"OpenGL", // Class Name
			title, // Window Title
			dwStyle | // Defined Window Style
					WS_CLIPSIBLINGS | // Required Window Style
					WS_CLIPCHILDREN, // Required Window Style
			0, 0, // Window Position
			WindowRect.right - WindowRect.left, // Calculate Window Width
			WindowRect.bottom - WindowRect.top, // Calculate Window Height
			NULL, // No Parent Window
			NULL, // No Menu
			hInstance, // Instance
			NULL))) // Dont Pass Anything To WM_CREATE
	{
		KillGLWindow(); // Reset The Display
		MessageBox(NULL, "Window Creation Error.", "ERROR", MB_OK
				| MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	static PIXELFORMATDESCRIPTOR pfd = // pfd Tells Windows How We Want Things To Be
			{ sizeof(PIXELFORMATDESCRIPTOR), // Size Of This Pixel Format Descriptor
					1, // Version Number
					PFD_DRAW_TO_WINDOW | // Format Must Support Window
							PFD_SUPPORT_OPENGL | // Format Must Support OpenGLs
							PFD_DOUBLEBUFFER, // Must Support Double Buffering
					PFD_TYPE_RGBA, // Request An RGBA Format
					bits, // Select Our Color Depth
					0, 0, 0, 0, 0, 0, // Color Bits Ignored
					0, // No Alpha Buffer
					0, // Shift Bit Ignored
					0, // No Accumulation Buffer
					0, 0, 0, 0, // Accumulation Bits Ignored
					16, // 16Bit Z-Buffer (Depth Buffer)
					0, // No Stencil Buffer
					0, // No Auxiliary Buffer
					PFD_MAIN_PLANE, // Main Drawing Layer
					0, // Reserved
					0, 0, 0 // Layer Masks Ignored
			};

	if (!(hDC = GetDC(hWnd))) // Did We Get A Device Context?
	{
		KillGLWindow(); // Reset The Display
		MessageBox(NULL, "Can't Create A GL Device Context.", "ERROR", MB_OK
				| MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	if (!(PixelFormat = ChoosePixelFormat(hDC, &pfd))) // Did Windows Find A Matching Pixel Format?
	{
		KillGLWindow(); // Reset The Display
		MessageBox(NULL, "Can't Find A Suitable PixelFormat.", "ERROR", MB_OK
				| MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	if (!SetPixelFormat(hDC, PixelFormat, &pfd)) // Are We Able To Set The Pixel Format?
	{
		KillGLWindow(); // Reset The Display
		MessageBox(NULL, "Can't Set The PixelFormat.", "ERROR", MB_OK
				| MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	if (!(hRC = wglCreateContext(hDC))) // Are We Able To Get A Rendering Context?
	{
		KillGLWindow(); // Reset The Display
		MessageBox(NULL, "Can't Create A GL Rendering Context.", "ERROR", MB_OK
				| MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	if (!wglMakeCurrent(hDC, hRC)) // Try To Activate The Rendering Context
	{
		KillGLWindow(); // Reset The Display
		MessageBox(NULL, "Can't Activate The GL Rendering Context.", "ERROR",
				MB_OK | MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	ShowWindow(hWnd, SW_SHOW); // Show The Window
	SetForegroundWindow(hWnd); // Slightly Higher Priority
	SetFocus(hWnd); // Sets Keyboard Focus To The Window
	ReSizeGLScene(width, height); // Set Up Our Perspective GL Screen

	if (!InitGL()) // Initialize Our Newly Created GL Window
	{
		KillGLWindow(); // Reset The Display
		MessageBox(NULL, "Initialization Failed.", "ERROR", MB_OK
				| MB_ICONEXCLAMATION);
		return FALSE; // Return FALSE
	}

	return TRUE; // Success
}

LRESULT CALLBACK WndProc(HWND hWnd, // Handle For This Window
		UINT uMsg, // Message For This Window
		WPARAM wParam, // Additional Message Information
		LPARAM lParam) // Additional Message Information
{
	switch (uMsg)
	// Check For Windows Messages
	{
	case WM_ACTIVATE: // Watch For Window Activate Message
	{
		if (!HIWORD(wParam)) // Check Minimization State
		{
			active = TRUE; // Program Is Active
		} else {
			active = FALSE; // Program Is No Longer Active
		}

		return 0; // Return To The Message Loop
	}

	case WM_SYSCOMMAND: // Intercept System Commands
	{
		switch (wParam)
		// Check System Calls
		{
		case SC_SCREENSAVE: // Screensaver Trying To Start?
		case SC_MONITORPOWER: // Monitor Trying To Enter Powersave?
			return 0; // Prevent From Happening
		}
		break; // Exit
	}

	case WM_CLOSE: // Did We Receive A Close Message?
	{
		PostQuitMessage(0); // Send A Quit Message
		return 0; // Jump Back
	}

	case WM_KEYDOWN: // Is A Key Being Held Down?
	{
		keys[wParam] = TRUE; // If So, Mark It As TRUE
		return 0; // Jump Back
	}

	case WM_KEYUP: // Has A Key Been Released?
	{
		keys[wParam] = FALSE; // If So, Mark It As FALSE
		return 0; // Jump Back
	}

	case WM_SIZE: // Resize The OpenGL Window
	{
		ReSizeGLScene(LOWORD(lParam), HIWORD(lParam)); // LoWord=Width, HiWord=Height
		return 0; // Jump Back
	}
	}

	// Pass All Unhandled Messages To DefWindowProc
	return DefWindowProc(hWnd, uMsg, wParam, lParam);
}

int WINAPI WinMain(HINSTANCE hInstance, // Instance
		HINSTANCE hPrevInstance, // Previous Instance
		LPSTR lpCmdLine, // Command Line Parameters
		int nCmdShow) // Window Show State
{
	MSG msg; // Windows Message Structure
	BOOL done = FALSE; // Bool Variable To Exit Loop

	// Ask The User Which Screen Mode They Prefer
	if (MessageBox(NULL, "Would You Like To Run In Fullscreen Mode?",
			"Start FullScreen?", MB_YESNO | MB_ICONQUESTION) == IDNO) {
		fullscreen = FALSE; // Windowed Mode
	}

	// Create Our OpenGL Window
	if (!CreateGLWindow("ativa-simul", 1280, 1024, 16, fullscreen)) {
		return 0; // Quit If Window Was Not Created
	}

	//init simulation
	InitSimul();
	sim.SetMotorMode(true);

	while (!done) // Loop That Runs While done=FALSE
	{
		if (PeekMessage(&msg, NULL, 0, 0, PM_REMOVE)) // Is There A Message Waiting?
		{
			if (msg.message == WM_QUIT) // Have We Received A Quit Message?
			{
				done = TRUE; // If So done=TRUE
			} else // If Not, Deal With Window Messages
			{
				TranslateMessage(&msg); // Translate The Message
				DispatchMessage(&msg); // Dispatch The Message
			}
		} else // If There Are No Messages
		{
			// Draw The Scene.  Watch For ESC Key And Quit Messages From DrawGLScene()
			if ((active && !DrawGLScene()) || keys[VK_ESCAPE]) // Active?  Was There A Quit Received?
			{
				done = TRUE; // ESC or DrawGLScene Signalled A Quit
			} else // Not Time To Quit, Update Screen
			{
				SwapBuffers(hDC); // Swap Buffers (Double Buffering)
			}

			con.RunConsole();
			sim.Run();

			if (keys[VK_F1]) // Is F1 Being Pressed?
			{
				keys[VK_F1] = FALSE; // If So Make Key FALSE
				KillGLWindow(); // Kill Our Current Window
				fullscreen = !fullscreen; // Toggle Fullscreen / Windowed Mode
				// Recreate Our OpenGL Window
				if (!CreateGLWindow("NeHe's Rotation Tutorial", 800, 600, 16,
						fullscreen)) {
					return 0; // Quit If Window Was Not Created
				}
			}
			if (keys[VK_UP]) {
				sim.RobotMoveForward();
			}
			if (keys[VK_DOWN]) {
				sim.RobotMoveBackward();
			}
			if (keys[VK_LEFT]) {
				sim.RobotTurnLeft();
			}
			if (keys[VK_RIGHT]) {
				sim.RobotTurnRight();
			}
			int index = 'E';
			if (keys[index]) {
				robot->SetLaserOn(true);
				sim.RobotUseLaser();
			}
			if (!keys[index]) {
				robot->SetLaserOn(false);
			}
		}
	}

	// Shutdown
	KillGLWindow(); // Kill The Window
	return (msg.wParam); // Exit The Program
}

